FROM osrf/ros:humble-desktop-full

USER root
ENV DEBIAN_FRONTEND noninteractive
ENV LANG=C.UTF-8 LC_ALL=C.UTF-8
ENV HOME=/root SHELL=/bin/bash
ENV APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=DontWarn

RUN apt-get update -q --fix-missing && \
    apt-get -y install --no-install-recommends apt-utils software-properties-common && \
    apt-key adv --keyserver keyserver.ubuntu.com --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE && \
    apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE && \
    add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u

RUN apt-get update -q --fix-missing && \
    apt-get install -y --no-install-recommends --allow-unauthenticated \
    apt-transport-https software-properties-common nano git ssh build-essential gcc g++ gdb clang cmake rsync curl \
    libeigen3-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev libceres-dev \
    qtbase5-dev libqt5opengl5-dev libcgal-dev vim \
    python3 python3-dev python3-matplotlib python3-numpy python3-psutil python3-tk \
    libssl-dev libusb-1.0-0 libusb-1.0-0-dev pkg-config libgtk-3-dev libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev ca-certificates \  
    libwayland-dev libxkbcommon-dev wayland-protocols libglew-dev libgtk2.0-dev libavcodec-dev libavformat-dev \
    libswscale-dev librealsense2-dkms librealsense2-utils 

RUN mkdir /root/realease

ENTRYPOINT [“/ros_entrypoint.sh”]
